Navigation for a robotic working tool

ABSTRACT

A robotic work tool system ( 200 ), comprising a robotic work tool ( 100 ), said robotic work tool ( 100 ) comprising a controller ( 110 ) being configured to cause said robotic work tool ( 100 ) to operate in a first operating mode, which first operating mode is based on a current position, said current position being determined based on signals received from a position determining device ( 190 ), such as Global Navigation Satellite System device ( 190 ); determine that said received signals are not reliable, and in response thereto cause said robotic work tool ( 100 ) to operate according to second operating mode, which second operating mode is not based on a current position being determined based on said received signals.

TECHNICAL FIELD

This application relates to a method and a robotic work tool system foran improved navigation for a robotic work tool.

BACKGROUND

Contemporary robotic work tools are becoming more and more advanced andare able to perform more and more advanced tasks such as executingadvanced operation patterns. In the example of lawnmower robots theadvanced working pattern may be a complicated mowing pattern based onthe layout of a garden including bushes, garden islands and otherstructures. To successfully navigate such complicated areas somecontemporary robotic work tools employ satellite navigation.

A satellite navigation or sat nav system is a system of satellites thatprovide autonomous geo-spatial positioning with global coverage. Itallows small electronic receivers to determine their location(longitude, latitude, and altitude) to within a few meters, or evencentimeters, using signals transmitted along a line-of-sight by radiofrom satellites. Receivers calculate the precise time as well asposition and carrier phase, which can be used as a reference forscientific experiments. A satellite navigation system with globalcoverage may be termed a global navigation satellite system or GNSS(Global Navigation Satellite System).

The use of GNSS systems requires good reception of satellite signals towork reliably. The satellite signals may sometimes be blocked bybuildings, roofs, awnings, foliage or trees. To improve the accuracy ofGNSS systems a reference receiver, or beacon, within a short distancefrom the target receiver can be used. This is called differential GNSS.There are several DGNSS techniques, such as the classical DGNSS (orDGPS), the Real Time Kinematics (RTK) and the Wide Area RTK (WARTK).

However, the signal from a beacon may also be blocked by for example ahouse if the garden or other work area extends around the building.

If the robotic work tool is unable to correctly receive the signals fromthe position determining system, the robotic work tool will bechallenged to correctly navigate the work area and a satisfactorycoverage of the work area may not be achieved by the robotic work tool.

It should be noted that similar problems exist also for other positiondetermining devices, such as using optical beacons where the line ofsight may be blocked in certain areas.

Even though the problems above have been discussed for lawnmower roboticwork tools, the same or similar problems exist also for other roboticwork tools.

There is thus a need for a manner of enabling reliable operation of arobotic work tool even in situations where the robotic work tool may notbe able to receive reliable signals.

SUMMARY

It is an object of the teachings of this application to overcome theproblems listed above by providing a robotic work tool system,comprising a robotic work tool, said robotic work tool comprising acontroller being configured to cause said robotic work tool to operatein a first operating mode, which first operating mode is based on acurrent position, said current position being determined based onsignals received from a position determining device, such as GlobalNavigation Satellite System device; determine that said received signalsare not reliable, and in response thereto cause said robotic work toolto operate according to second operating mode, which second operatingmode is not based on a current position being determined based on saidreceived signals.

the robotic work tool (100) is a farming equipment, a vacuum cleaner, afloor cleaner, a street sweeper, a snow removal tool, a golf ballretriever robot, a cleaner robot, a leaves blower robot, a leavescollector robot, snow thrower robot or a mine clearance robot.

It is also an object of the teachings of this application to overcomethe problems listed above by providing a method for use in a roboticwork tool system, comprising a charging station and a robotic work tool,said method comprising: causing said robotic work tool to operate in afirst operating mode, which first operating mode is based on a currentposition, said current position being determined based on signalsreceived from a position determining device, such as Global NavigationSatellite System device; determining that said received signals are notreliable, and in response thereto causing said robotic work tool tooperate according to second operating mode, which second operating modeis not based on a current position being determined based on saidreceived signals.

The inventors of the present invention have realized, after inventiveand insightful reasoning that by enabling the robotic work tool toswitch from a GNSS navigation operation mode to a second or alternativenavigation mode, for example deduced reckoning or other, perhaps morerandom operating pattern, the robotic work tool will be able to performsatisfactory without unneeded stops even in areas where GNSS navigationis not reliable while still being able to perform a complicatedoperating pattern. As signals may be reliably received in mostsituations only smaller sections of a work area will be (herein referredto as) a blackout section. Should the robotic work tool not follow acomplicated operating pattern exactly in those smaller sections, asatisfactory over all operation will still be achieved.

Other features and advantages of the disclosed embodiments will appearfrom the following detailed disclosure, from the attached dependentclaims as well as from the drawings. Generally, all terms used in theclaims are to be interpreted according to their ordinary meaning in thetechnical field, unless explicitly defined otherwise herein. Allreferences to “a/an/the [element, device, component, means, step, etc]”are to be interpreted openly as referring to at least one instance ofthe element, device, component, means, step, etc., unless explicitlystated otherwise. The steps of any method disclosed herein do not haveto be performed in the exact order disclosed, unless explicitly stated.

BRIEF DESCRIPTION OF DRAWINGS

The invention will be described in further detail under reference to theaccompanying drawings in which:

FIG. 1 shows a schematic overview of a robotic work tool according toone embodiment of the teachings of this application;

FIG. 2 shows a schematic view of a robotic working tool system accordingto one embodiment of the teachings of this application;

FIGS. 3A and 3B each shows a schematic view of a robotic working toolsystem according to one embodiment of the teachings of this application,and

FIG. 4 shows a schematic view of a robotic working tool system accordingto one embodiment of the teachings of this application.

DETAILED DESCRIPTION

The disclosed embodiments will now be described more fully hereinafterwith reference to the accompanying drawings, in which certainembodiments of the invention are shown. This invention may, however, beembodied in many different forms and should not be construed as limitedto the embodiments set forth herein; rather, these embodiments areprovided by way of example so that this disclosure will be thorough andcomplete, and will fully convey the scope of the invention to thoseskilled in the art. Like numbers refer to like elements throughout.

FIG. 1 shows a schematic overview of a robotic work tool 100 having abody 140 and a plurality of wheels 130. In the exemplary embodiment ofFIG. 1 the robotic work tool 100 has 4 wheels 130, two front wheels 130′and the rear wheels 130″. At least some of the wheels 130 are drivablyconnected to at least one electric motor 150. It should be noted thateven if the description herein is focussed on electric motors,combustion engines may alternatively be used possibly in combinationwith an electric motor.

In the example of FIG. 1, the rear wheels 130″ are connected to each anelectric motor 150. This allows for driving the rear wheels 130″independently of one another which, for example, enables steep turning.

The robotic work tool 100 also comprises a controller 110. Thecontroller 110 may be implemented using instructions that enablehardware functionality, for example, by using executable computerprogram instructions in a general-purpose or special-purpose processorthat may be stored on a computer readable storage medium (disk, memoryetc) 120 to be executed by such a processor. The controller 110 isconfigured to read instructions from the memory 120 and execute theseinstructions to control the operation of the robotic work tool 100. Thecontroller 110 may be implemented using any suitable, publicallyavailable processor or Programmable Logic Circuit (PLC). The memory 120may be implemented using any commonly known technology forcomputer-readable memories such as ROM, RAM, SRAM, DRAM, FLASH, DDR,SDRAM or some other memory technology.

The robotic work tool 100 further has at least one sensor 170, in theexample of FIG. 1 there are two sensors 170, arranged to detect amagnetic field (not shown). The sensors are connected to the controller110 and the controller 110 is configured to process any signals receivedfrom the sensors 170. The sensor signals may be caused by the magneticfield caused by a control signal being transmitted through a boundarywire (for more details on charging stations, control signals andboundary wires, see the description below with reference to FIG. 2).This enables the controller 110 to determine whether the robotic worktool 100 is inside or outside an area enclosed by a boundary wire.

It should be noted that the teachings herein may also be used for arobotic work tool that is configured to operate in a work area, wherethe work area is not bounded by a boundary wire. Examples of suchrobotic work tools are tools arranged to physically detect a boundary bycollision detection, or a robotic work tool that uses a positiondetermination system (such as GPS) to maintain a position within thework area, which work area is specified by coordinates.

The controller 110 is connected to the motors 150 for controlling thepropulsion of the robotic work tool 100 which enables the robotic worktool 100 to service an enclosed area without leaving the area.

The robotic work tool 100 also comprises a work tool 160, which may be agrass cutting device, such as a rotating blade 160 driven by a cuttermotor 165. The cutter motor 165 is connected to the controller 110 whichenables the controller 110 to control the operation of the cutter motor165. The controller is also configured to determine the load exerted onthe rotating blade, by for example measure the power delivered to thecutter motor 165 or by measuring the axle torque exerted by the rotatingblade. The robotic work tool 100 is, in one embodiment, a lawnmowerrobot. In one embodiment the robotic work tool 100 is a farmingequipment. In one embodiment the robotic work tool 100 is a golf ballcollecting tool equipment.

The robotic work tool 100 may also be a vacuum cleaner, a floor cleaner,a street sweeper, a snow removal tool, a mine sweeper or any otherrobotic work tool that is required to operate in a work area in amethodical and systematic manner.

The robotic work tool 100 also has (at least) one battery 180 forproviding power to the motors 150 and the cutter motor 165.Alternatively or additionally the robotic work tool may have a fuel tank180 for supplying fuel to a combustion engine 150.

The robotic work tool 100 is also arranged with a position determiningdevice 190, such as a GNSS (Global Navigation Satellite System) device190. In one embodiment the GNSS device is a GPS (Global PositioningService) device 190. The GNSS device 190 is connected to the controller110 for enabling the controller 110 to determine a current position forthe robotic work tool 100 using the GNSS device 190 and to control themovements of the robotic work tool 100 based on the position.

Other examples of position determining devices 190 include optical (suchas laser) position determining devices, other radio frequency positiondetermining systems, and ultrawideband (UWB) beacons and receivers.

The robotic work tool 100 is further arranged with at least one sensor195 for providing signals for deduced reckoning navigation (also knownas dead reckoning). Examples of such deduced reckoning navigationsensors 195 are odometers, accelerometers, gyroscopes and compasses. Therobotic work tool 100 may alternatively or additionally be arranged withsensors for other navigation techniques such as visual/opticalnavigation systems, SLAM (Simultaneous Location And Mapping) andfingerprint fusion to name a few.

FIG. 2 shows a schematic view of a robotic work tool system 200comprising a charging station 210 and a boundary wire 250 arranged toenclose a working area 205, not necessarily being a part of the roboticwork tool system 200, in which the robotic work tool 100 is supposed toservice. The charging station 210 has a charger 220 coupled to, in thisembodiment, two charging plates 230. The charging plates 230 arearranged to co-operate with corresponding charging plates (not shown) ofthe robotic work tool 100 for charging the battery 180 of the roboticwork tool 100. The charging station 210 also has, or may be coupled to,a signal generator 240 for providing a control signal (not shown) to betransmitted through the boundary wire 250. The control signal preferablycomprises a number of periodic current pulses. As is known in the art,the current pulses will generate a magnetic field around the boundarywire 250 which the sensors 170 of the robotic work tool 100 will detect.As the robotic work tool 100 (or more accurately, the sensor 170)crosses the boundary wire 250 the direction of the magnetic field willchange. The robotic work tool 100 will thus be able to determine thatthe boundary wire has been crossed. The use of more than one sensor 170enables the controller 110 of the robotic work tool 100 to determine howthe robotic work tool 100 is aligned with relation to the boundary wire250 by comparing the sensor signals received from each sensor 170. Thisenables the robotic work tool to follow the boundary wire 250, forexample when returning to the charging station 210 for charging.

Optionally, the charging station 210 also has a guide cable 260 forenabling the robotic work tool to find the entrance of the chargingstation 210. In one embodiment the guide cable 260 is formed by a loopof the boundary wire 250. In one embodiment the guide wire 260 is usedto generate a magnetic field for enabling the robotic work tool 100 tofind the charging station without following a guide cable 260.

FIG. 3A shows another schematic view of a robotic work tool system 200according to the teachings herein, such as the robotic work tool system200 of FIG. 2, being depicted here at a larger scale.

A boundary wire 250 encloses a working area 205 in which the roboticwork tool 100 is configured to operate within. The working area 205 hasa first section 205 a in which GNSS navigation is possible and a secondsection 205 b in which GNSS navigation is not possible. The firstsection 205 will hereafter be referred to as a GNSS section 205 a andthe second section 205 b will be referred to as a blackout section 205b. The reason why GNSS navigation is not possible in the blackoutsection 205 b may be due to buildings, roofs, awnings, trees or otherfoliage blocking the satellite signals or making the satellite signalsunreliable.

It should be noted that the teachings herein may also be used for arobotic work tool that is configured to operate in a work area, wherethe work area is not bounded by a boundary wire. Examples of suchrobotic work tools are tools arranged to physically detect a boundary bycollision detection, or a robotic work tool that uses a positiondetermination system (such as GNSS) to maintain a position within thework area, which work area is specified by coordinates.

The robotic work tool 100 is configured to utilize its GNSS device 190to control its working operation. In the example of the robotic worktool 100 being a lawnmower robot, the controller 110 determines a mowingpattern based on a position of the robotic work tool 100. The mowingpattern may be determined as a heading to be taken or a circular patternor other mowing pattern. The mowing pattern may also be based on a mapof the work area 250. Such mowing patterns are known to a skilled personand will not be discussed further herein.

In the example of FIG. 3A the robotic work tool 100 is configured tooperate in a first operating mode or manner based on a positionretrieved from the GNSS device 190 as long as the GNSS device 190 isable to receive reliable signals from position determining device, suchas either satellites or one or more beacons or a RTK-GPS master station.The controller 110 or the GNSS device 190 itself is configured todetermine that the signals received are reliable and in response theretoexecute a working pattern.

When the robotic work tool 100 is not able to receive reliable satellitesignals, the controller 110 is configured to continue operation in asecond operating mode using an alternative navigation system or todetermine an alternative mowing pattern that does not require (advancedor absolute) position determining.

In one embodiment the controller is configured to continue operation ina random operating pattern where no exact navigation is required as longas the GNSS device 190 is unable to receive reliable signals.Alternatively or additionally, the robotic work tool may be configuredto continue in a simple operating pattern (such as expanding circle orother well known operating pattern), possibly in combination with arandom operating pattern. Such patterns and combinations thereof arewell-known in the field of robotic work tools.

It should be noted that when discussing the ability of receivingreliable signals it is meant to receive enough signals to establish aposition reliably. The number of signals needed for this differs fromGNSS device 190 to GNSS device as well as the operation and safetyissues of the robotic work tool 100. For example, if only the positionis of interest it suffices to receive three reliable signals toestablish a reliable position, whereas if, for example, the amplitude ortime is also of relevance, a fourth signal need be reliably received.

In the example of FIG. 3A the robotic work tool 100 has performed aregular mowing pattern (referenced A) as indicated by the horizontal andvertical dashed arrowed lines in the GNSS section 205 a. As the roboticwork tool 100 enters the blackout section 205 b where the robotic worktool 100 is no longer able to establish a position reliably, the roboticwork tool 100 switches operating mode from GNSS navigated operation to,as in this example, random mowing. As can be seen in FIG. 3A a randommowing pattern B is executed as long as it is not possible to establisha position reliably. As the robotic work tool 100 re-enters the GNSSsection 205 a of the work, the robotic work tool 100 again switches backto GNSS navigated operation and continues the determined mowing pattern.In one embodiment a new, position-based operating pattern may bedetermined to account for large position displacements.

In one embodiment the controller is configured to store a map of thework area in the memory. The map may alternatively be over the blackoutarea. The robotic work tool may adapt its operation based on a currentposition in the work area based on the map. One such adaptation is thatthe robotic work tool may proactively initiate the second operating modeas it determines that it is close to or about to enter the blackoutarea.

In one such embodiment the controller may be configured to generate sucha map of the blackout area as it detects that signals are no longerreliably received. Also, the controller may be configured to update themap each time it leaves or enters the blackout area. Especially if it isdetected that the navigation error previously determined is notnegligible. The robotic work tool may also adapt its working patternaccording to the map to provide a more efficient operation.

By switching modes, the robotic work tool 100 is able to provide asatisfactory operation also in areas where GNSS-based navigation is notpossible.

FIG. 3B an alternative embodiment of the teachings herein, wherein therobotic work tool 100 is configured to detect that the robotic work tool100 enters the GNSS section 205 a, i.e. the robotic work tool 100 isable to receive reliable signals, and then turning back into theblackout section 205 b again to ensure a sufficient operating timewithin the blackout section 205 b. The robotic work tool 100 may beconfigured to determine if it is to turn back into the blackout section205 or if it is to continue out in the GNSS section 205 a based on atime spent in the blackout section 205 b, number of turns made in theblackout section 205 b, and/or the number of times it has been possibleto re-enter the GNSS section 205 a. The number of times it has been ableto return into the GNSS section 205 a and/or the number of turns it hasmade may be kept track of by increasing a counter which is then comparedto a threshold value. If the counter exceeds the threshold value therobotic work tool 100 is caused to re-enter the GNSS section 205 a.

For example, the robotic work tool 100 may be configured to re-enter theGNSS section 205 a on the 4^(th) time it is able to determine a reliableposition. Another example is that the robotic work tool 100 isconfigured to re-enter the GNSS section 205 a after it has performed atleast 10 turns in the blackout section 205 b. Yet another example isthat the robotic work tool 100 is configured to re-enter the GNSSsection 205 a after it has spent at least 10 minutes in the blackoutsection 205 b. Another example is that the robotic work tool 100 isconfigured to re-enter the GNSS section 205 a after it has traveled atleast 10 meters in the blackout section 205 b.

The distance traveled may be measured using the deduced reckoningsensors or by simply counting a number of wheel turns or a combinationthereof.

This ensures that at least a minimum of work is performed in theblackout section 205 b and provides for a more complete coverage of theblackout section 205 b.

Furthermore, the controller 110 may be configured to determine an areaof the blackout area and also the work area and to determine whetherenough time has been spent operating in the work area. The area can bedetermined by tracking a position over a time period and therebycalculating the traversed area.

FIG. 4 shows a schematic view of a robotic work tool system 200 whereinthe robotic work tool 100 is arranged to operate according to analternative embodiment of the teachings herein, in which the roboticwork tool 100 is configured to switch to an alternative navigation modewhen it determines that a reliable position may no longer beestablished. One such alternative navigation mode is deduced reckoning.Deduced reckoning works so that the last known direction is taken to bethe current and assumed direction and by for example measuring thenumber of wheel turns (or rather turn speed of the wheel axel and thetime) the current position is determined. As the robotic work tool 100encounters the boundary wire 250 it turns and by counting the number ofwheel turns the new direction can be determined and the controller 110may control the operation of the robotic work tool 100 based on theposition determined based on the deduced reckoning. An odometer 195 mayalso be used to determine the current position or turning angle in thededuced reckoning navigation mode.

As can be seen in FIG. 4 the resulting operating pattern B (in thisexample the mowing pattern) does not differ much from the GNSS basedoperating pattern A, and a satisfactory mowing pattern may be achievedeven if the robotic work tool 100 is not always able to establish areliable position.

In one embodiment, the robotic work tool 100 is further configured tocorrect its position and/or direction according to an expected position.The expected position is where the robotic work tool (100) should havebeen if it had continued operating according to the first GNSS operatingmode. The correction may be that the robotic work tool 100 steerstowards and possibly along an expected movement line, i.e. a line thatthe robotic work tool is expected or planned to move along, in themowing pattern or returns to the expected position. This enables therobotic work tool 100 to minimize the effects of any errors induced bythe deduced reckoning navigation sensor 195 during the deduced reckoningnavigation.

One benefit of the teachings herein is that a robotic work tool isenabled to provide a satisfactory mowing pattern even if the roboticwork tool 100 is not able to establish a reliable position using theGNSS device 190.

It should be noted that even though the mowing pattern shown in theexemplifying figures are very simple, the teachings herein may bebeneficially used to provide advanced mowing patterns taking intoaccount obstacles or other (garden) architectural features.

The invention has mainly been described above with reference to a fewembodiments. However, as is readily appreciated by a person skilled inthe art, other embodiments than the ones disclosed above are equallypossible within the scope of the invention, as defined by the appendedpatent claims.

The invention claimed is:
 1. A robotic work tool system, comprising a robotic work tool, said robotic work tool comprising a controller being configured to cause said robotic work tool to operate in a first operating mode, wherein the first operating mode is based on a current position, said current position being determined based on received signals that are received from a position determining device; determine that said received signals are not reliable, and in response thereto cause said robotic work tool to operate according to a second operating mode, wherein the second operating mode is not based on a current position being determined based on said received signals; and determine if a counter is lower than a threshold value when the received signals are reliable again and if so, cause the robotic work tool to execute a turn to re-enter a section where the received signals are not reliably received and increase the counter, wherein the controller is further configured to determine that the received signals are reliable again, and in response thereto switch to said first operating mode.
 2. The robotic work tool system according to claim 1, wherein the controller is further configured to determine an expected position and cause said robotic work tool to steer towards said expected position.
 3. The robotic work tool system according to claim 1, wherein the controller is further configured to determine an expected movement line and cause said robotic work tool to steer towards said expected movement line.
 4. The robotic work tool system according to claim 1, wherein the second operating mode is a random operating pattern.
 5. The robotic work tool system according to claim 1, wherein the second operating mode is an expanding circle operating pattern.
 6. The robotic work tool system according to claim 1, wherein the second operating mode is based on a deduced reckoning operating pattern.
 7. The robotic work tool system according to claim 1, wherein the controller is configured to determine that said robotic work tool encounters a boundary wire and in response thereto increase said counter.
 8. The robotic work tool system according to claim 1, wherein the controller is configured to determine that said robotic work tool executes a turn and in response thereto increase said counter.
 9. The robotic work tool system according to claim 1, wherein the controller is configured to store a map and to adapt operation of the controller based on a current position in a work area based on the map.
 10. The robotic work tool system according to claim 9, wherein the controller is configured to adapt the operation by initiating said second operating mode when the controller determines that the robotic work tool is close to or about to enter a blackout area.
 11. The robotic work tool system according to claim 10, wherein the controller is configured to update the map each time the robotic work tool leaves or enters the blackout area.
 12. A robotic work tool system comprising a robotic work tool, said robotic work tool comprising a controller being configured to: cause said robotic work tool to operate in a first operating mode, wherein the first operating mode is based on a current position, said current position being determined based on received signals that are received from a position determining device; determine that said received signals are not reliable, and in response thereto cause said robotic work tool to operate according to a second operating mode, wherein the second operating mode is not based on a current position being determined based on said received signals; start a timer as said received signals are determined not to be reliable; and determine if the timer is lower than a threshold value when said received signals are reliable again and if so, cause said robotic work tool to execute a turn to re-enter a section where said received signals are not reliably received, wherein the controller is further configured to determine that the received signals are reliable again, and in response thereto switch to said first operating mode.
 13. A robotic work tool system comprising a robotic work tool, said robotic work tool comprising a controller being configured to: cause said robotic work tool to operate in a first operating mode, wherein the first operating mode is based on a current position, said current position being determined based on received signals that are received from a position determining device; determine that said received signals are not reliable, and in response thereto cause said robotic work tool to operate according to a second operating mode, wherein the second operating mode is not based on a current position being determined based on said received signals; start to measure a distance traveled as said received signals are determined not to be reliable; and determine if the distance traveled is lower than a threshold value when said received signals received are reliable again and if so, cause said robotic work tool to execute a turn to re-enter a section where said received signals are not reliably received, wherein the controller is further configured to determine that the received signals are reliable again, and in response thereto switch to said first operating mode. 